Open-loop oscillatory stabilization of an n-pendulum
Open-loop oscillatory stabilization of an n-pendulum
复制标题
n 摆的开环振荡稳定
DOI：
10.1080/002071798221641
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发表时间：
1998
期刊：
影响因子：
--
通讯作者：
J. Baillieul
中科院分区：
文献类型：
--
作者：
S. Weibel;J. Baillieul
本文提出了新的结果的行为的n连杆摆，这是控制的振荡输入迫使一个结束链接。借鉴近年来二阶非线性系统振荡控制的研究成果，我们采用平均势作为平衡和稳定性分析的主要工具。虽然单自由度系统的这种控制已经由Weibel和Baillieul进行了相当详细的研究，但研究人员才刚刚开始探索多自由度系统控制中出现的问题。特别感兴趣的是当系统具有分叉和一个以上的稳定平衡的行为。本文研究了受周期外力作用的小车和n摆在斜面上的分岔和稳定性。单自由度摆的周期性开环强迫以前已被证明是稳定倒立平衡的鲁棒性和有效的手段，这种鲁棒性延续到m…
This paper presents new results on the behaviour of an n-link pendulum which is controlled by means of an oscillatory input forcing one end link. Drawing on recent research on the oscillatory control of second order non-linear systems, we adopt the averaged potential as the primary tool in our equilibrium and stability analysis. While such control of single-degree-of-freedom systems has been studied in fair detail by Weibel and Baillieul, researchers are only beginning to explore the issues which arise in the control of multi-degree-of-freedom systems. Of specific interest is the behaviour when the system possesses bifurcations and more than one stable equilibrium. In this paper, we present a study of the bifurcations and stability of a periodically forced cart and n-pendulum on an inclined plane. Periodic open-loop forcing of the single degree-of-freedom pendulum has previously been shown to be a robust and effective means of stabilizing the inverted equilibrium, and this robustness carries over to the m...